Agent Config

The agent reads TOML configuration from talos-agent.toml or the path passed to --config.

Minimal UDS Config

[transport.uds]
socket_path = "/tmp/talos.sock"

QUIC Config

QUIC requires building with the quic feature:

[transport.quic]
bind_addr = "0.0.0.0:4433"
# cert_path = "/path/to/cert.der"
# key_path = "/path/to/key.der"

If cert_path and key_path are omitted, the agent generates a self-signed certificate at startup.

Dual Transport Config

UDS and QUIC can be enabled together:

[transport.uds]
socket_path = "/tmp/talos.sock"

[transport.quic]
bind_addr = "0.0.0.0:4433"

At least one transport must be configured for the agent to serve clients.

Topic Subscriptions

The agent subscribes to configured topics with compiled-in ROS 2 message types:

[[subscriptions]]
topic = "/odom"
type = "nav_msgs/msg/Odometry"

[[subscriptions]]
topic = "/cmd_vel"
type = "geometry_msgs/msg/Twist"

[[subscriptions]]
topic = "/robot_description"
type = "std_msgs/msg/String"

[[subscriptions]]
topic = "/joint_states"
type = "sensor_msgs/msg/JointState"

[[subscriptions]]
topic = "/rosout"
type = "rcl_interfaces/msg/Log"

Unknown message types are skipped by the agent.

Joint Control

Joint control is optional:

[control]
method = "topic"
topic = "/joint_commands"
type = "sensor_msgs/msg/JointState"

Named poses are stored under poses:

[poses.home]
shoulder_pan = 0.0
shoulder_lift = -1.57
elbow = 1.57

If control is not configured, joint command requests return an error.